CN114341823A - 用于控制多轴运动机器的方法、装置和存储介质 - Google Patents
用于控制多轴运动机器的方法、装置和存储介质 Download PDFInfo
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Abstract
一种用于控制多轴运动机器的多轴运动控制方法，所述方法包括：接收任务级指令；将任务级指令分解为多个子任务，所述多个子任务包括环境监测子任务，在环境监测子任务中，感测并确定多轴运动机器周围的环境信息；规划运动轨迹，根据在环境监测子任务中得到的环境信息规划多轴运动机器的端部操作器的运动轨迹；所述多个子任务还包括：运动控制子任务，根据在环境监测子任务中得到的环境信息确定用于控制端部操作器的运动控制模式；运动控制模式切换子任务，将当前的运动控制模式切换成在运动控制子任务中确定的运动控制模式并调整对应的控制参数。
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PCT国内申请，说明书已公开。
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- PCT国内申请，权利要求书已公开。
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/109244 WO2021056591A1 (zh) | 2019-09-29 | 2019-09-29 | 用于控制多轴运动机器的方法、装置和存储介质 |
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| CN114341823A true CN114341823A (zh) | 2022-04-12 |
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| WO (1) | WO2021056591A1 (zh) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003021365A2 (en) * | 2001-08-31 | 2003-03-13 | The Board Of Regents Of The University And Community College System, On Behalf Of The University Of Nevada, Reno | Coordinated joint motion control system |
| US20100161127A1 (en) * | 2008-12-18 | 2010-06-24 | Gm Global Technology Operations, Inc. | Multiple priority operational space impedance control |
| CN102292194A (zh) * | 2009-08-21 | 2011-12-21 | 松下电器产业株式会社 | 机器人手臂的控制装置及控制方法、装配机器人、机器人手臂的控制程序及机器人手臂的控制用集成电路 |
| CN102300679A (zh) * | 2009-09-28 | 2011-12-28 | 松下电器产业株式会社 | 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序及机器人手臂控制用集成电路 |
| CN104731642A (zh) * | 2013-12-23 | 2015-06-24 | 国际商业机器公司 | 用于高度并行作业的回填调度方法和系统 |
| CN109015658A (zh) * | 2018-09-20 | 2018-12-18 | 北京邮电大学 | 一种用于捕获翻滚目标的空间双臂机器人控制方法 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870107B (zh) * | 2010-06-26 | 2011-08-31 | 上海交通大学 | 骨科手术辅助机器人的控制系统 |
| CN105599821B (zh) * | 2016-01-06 | 2019-03-01 | 山东优宝特智能机器人有限公司 | 具有环境感知能力的电驱动仿生四足机器人及控制方法 |
| CN108536011A (zh) * | 2018-03-19 | 2018-09-14 | 中山大学 | 一种基于深度强化学习的六足机器人复杂地形自适应运动控制方法 |
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2019
- 2019-09-29 WO PCT/CN2019/109244 patent/WO2021056591A1/zh active Application Filing
- 2019-09-29 CN CN201980100024.5A patent/CN114341823A/zh active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003021365A2 (en) * | 2001-08-31 | 2003-03-13 | The Board Of Regents Of The University And Community College System, On Behalf Of The University Of Nevada, Reno | Coordinated joint motion control system |
| US20100161127A1 (en) * | 2008-12-18 | 2010-06-24 | Gm Global Technology Operations, Inc. | Multiple priority operational space impedance control |
| CN102292194A (zh) * | 2009-08-21 | 2011-12-21 | 松下电器产业株式会社 | 机器人手臂的控制装置及控制方法、装配机器人、机器人手臂的控制程序及机器人手臂的控制用集成电路 |
| CN102300679A (zh) * | 2009-09-28 | 2011-12-28 | 松下电器产业株式会社 | 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序及机器人手臂控制用集成电路 |
| CN104731642A (zh) * | 2013-12-23 | 2015-06-24 | 国际商业机器公司 | 用于高度并行作业的回填调度方法和系统 |
| CN109015658A (zh) * | 2018-09-20 | 2018-12-18 | 北京邮电大学 | 一种用于捕获翻滚目标的空间双臂机器人控制方法 |
Non-Patent Citations (3)
| Title |
|---|
| ALBU-SCHAFFER A等: "Cartesian impedance control techniques for torque controlled light-weight robots", PROCEEDINGS 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (CAT. NO. 02CH37292), vol. 1, 11 May 2002 (2002-05-11), XP055084706, DOI: 10.1109/ROBOT.2002.1013433 * |
| 付艳;汤贤;刘世平;余进轩;: "基于人机协同的人形机器人实时任务规划", 华中科技大学学报(自然科学版), no. 01, 23 January 2017 (2017-01-23) * |
| 杨磊等: "基于指尖力传感器的HIT机器人灵巧手笛卡尔阻抗控制", 控制与决策, vol. 19, no. 11, 30 November 2004 (2004-11-30) * |
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